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33 results on '"Gancet, J."'

1. LUVML-X: A Versatile Platform for Resource Prospecting on the Moon

Author

Wessels, P., primary, Neumann, J., primary, Reganaz, M., primary, Losekamm, Martin, primary, K., H., primary, ., Fodorcan, primary, Schröder, S., primary, Fau, G., primary, Biswas, J., primary, Chupin, T., primary, Evagora, A., primary, Barber, S., primary, Pöschl, T., primary, Vogt, D., primary, Richter, L., primary, Gancet, J., primary, ., Murray, primary, Urbina, D., primary, Schwanethal, J., primary, Sheridan, Simon, primary, and Kubitza, S., primary

Published
2022
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3. LUVMI-X: A Versatile Platform for Resource Prospecting on the Moon

Author

Losekamm, M. J., primary, Barber, S., additional, Biswas, J., additional, Chupin, T., additional, Evagora, A., additional, Fau, G., additional, Fodorcan, D., additional, Gancet, J., additional, Kubitza, S., additional, Madakashira, H. K., additional, Murray, N., additional, Neumann, J., additional, Pöschl, T., additional, Reganaz, M., additional, Richter, L., additional, Schröder, S., additional, Schwanethal, J., additional, Sheridan, S., additional, Urbina, D., additional, Vogt, D., additional, and Wessels, P., additional

Published
2021
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6. Application Of The LVS Subsurface Probe On The LUVMI Rover For A LUNAR Volatiles Exploration Mission

Author

Biswas, J., Reiss, P., Gancet, J., Sheridan, S., Barber, S. J., Dobrea, D., Richeter, L., and Murray, N.

Abstract

We present the latest iteration of the Lunar Volatiles Scout (LVS), a novel instrument to access and characterise lunar volatiles insitu. The LVS is currently being developed in a cooperation between Technical University of Munich (TUM) and OHB System as part of the Lunar Volatiles Mobile Instrument (LUVMI)study, conducted in the frame of the EU Horizon 2020 initiative and led by the Belgian company Space Applications Services. \ud \ud LUVMI aims to develop a comprehensive light-weight(20-40 kg)rover for investigations on volatiles in and around permanently shadowed regions on the Moon. The platform is envisioned as a possible secondary payload to one of the currently planned missions to the lunar poles. It features an active chassis with four independently steerable wheels, an innovative light-field camera, the Volatiles Sampler (represented by the LVS), and the Volatiles Analyser (miniature mass spectrometer).

Published
2017

8. EMG patterns during assisted walking in the exoskeleton

Author

Sylos-Labini, F. (author), La Scaleia, V. (author), d'Avella, A. (author), Pisotta, I. (author), Tamburella, F. (author), Scivoletto, G. (author), Molinari, M. (author), Wang, S. (author), Wang, L. (author), Van Asseldonk, E. (author), Van der Kooij, H. (author), Hoellinger, T. (author), Cheron, G. (author), Thorsteinsson, F. (author), Ilzkovitz, M. (author), Gancet, J. (author), Hauffe, R. (author), Zanov, F. (author), Lacquaniti, F. (author), Ivanenko, Y.P. (author), Sylos-Labini, F. (author), La Scaleia, V. (author), d'Avella, A. (author), Pisotta, I. (author), Tamburella, F. (author), Scivoletto, G. (author), Molinari, M. (author), Wang, S. (author), Wang, L. (author), Van Asseldonk, E. (author), Van der Kooij, H. (author), Hoellinger, T. (author), Cheron, G. (author), Thorsteinsson, F. (author), Ilzkovitz, M. (author), Gancet, J. (author), Hauffe, R. (author), Zanov, F. (author), Lacquaniti, F. (author), and Ivanenko, Y.P. (author)

Abstract

Neuroprosthetic technology and robotic exoskeletons are being developed to facilitate stepping, reduce muscle efforts, and promote motor recovery. Nevertheless, the guidance forces of an exoskeleton may influence the sensory inputs, sensorimotor interactions and resulting muscle activity patterns during stepping. The aim of this study was to report the muscle activation patterns in a sample of intact and injured subjects while walking with a robotic exoskeleton and, in particular, to quantify the level of muscle activity during assisted gait. We recorded electromyographic (EMG) activity of different leg and arm muscles during overground walking in an exoskeleton in six healthy individuals and four spinal cord injury (SCI) participants. In SCI patients, EMG activity of the upper limb muscles was augmented while activation of leg muscles was typically small. Contrary to our expectations, however, in neurologically intact subjects, EMG activity of leg muscles was similar or even larger during exoskeleton-assisted walking compared to normal overground walking. In addition, significant variations in the EMG waveforms were found across different walking conditions. The most variable pattern was observed in the hamstring muscles. Overall, the results are consistent with a non-linear reorganization of the locomotor output when using the robotic stepping devices. The findings may contribute to our understanding of human-machine interactions and adaptation of locomotor activity patterns., Biomechanical Engineering, Mechanical, Maritime and Materials Engineering

Published
2014
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9. Self-Optimizing Human-Robot Systems for Search and Rescue in Disaster Scenarios

Author

Witkowski, Ulf, Herbrechtsmeier, Stefan, Tanoto, Andry, El Habbal, Mohamed Ahmed Mostafa, Penders, Jacques, Alboul, Lyuba, and Gancet, J.

Abstract

The increasing capabilities of robot systems enable new fields of practical applica- tions for individual robots as well as multi-robot systems. But for some applica- tion scenarios like a fire or earthquake disaster current robots are still too limited to act fully autonomously in the disaster area. To overcome these limitations we consider a heterogeneous team of humans and robots complementing each other. Core application considered in this paper is a large burning warehouse with smoke making it difficult for fire fighters to search the building and to orientate them- selves inside the warehouse. Therefore, an assisting team of robots is surrounding the fire fighters searching the proximity, providing orientation data, and establish- ing a wireless communication infrastructure on a basis of a mobile ad-hoc net- work. The adaptation of the robots is achieved by applying principles of self- optimization on different levels of the human-robot system. In this paper, we are considering self-optimization inside an individual robot to optimize its behaviour, within a group of robots, and in the entire system compris- ing of robots and humans. The focus of the optimization is the distribution of ro- bots by applying swarming behaviour for forming a mobile ad-hoc communica- tion network and performing map building.

Published
2008

10. View-finder : Robotics assistance to fire-fighting services and crisis management

Author

Baudoin, Y., Doroftei, D., De Cubber, G., Berrabah, S. A., Pinzon, C., Warlet, F., Gancet, J., Motard, E., Ilzkovitz, M., Nalpantidis, Lazaros, Gasteratos, Antonios, Baudoin, Y., Doroftei, D., De Cubber, G., Berrabah, S. A., Pinzon, C., Warlet, F., Gancet, J., Motard, E., Ilzkovitz, M., Nalpantidis, Lazaros, and Gasteratos, Antonios

Abstract

In the event of an emergency due to a fire or other crisis, a necessary but time consuming pre-requisite, that could delay the real rescue operation, is to establish whether the ground or area can be entered safely by human emergency workers. The objective of the VIEW-FINDER project is to develop robots which have the primary task of gathering data. The robots are equipped with sensors that detect the presence of chemicals and, in parallel, image data is collected and forwarded to an advanced Control station (COC). The robots will be equipped with a wide array of chemical sensors, on-board cameras, Laser and other sensors to enhance scene understanding and reconstruction. At the Base Station (BS) the data is processed and combined with geographical information originating from a web of sources; thus providing the personnel leading the operation with in-situ processed data that can improve decision making. This paper will focus on the Crisis Management Information System that has been developed for improving a Disaster Management Action Plan and for linking the Control Station with a out-site Crisis Management Centre, and on the software tools implemented on the mobile robot gathering data in the outdoor area of the crisis., QC 20111213, Vision and Chemiresistor Equipped Web-connected Finding Robots (View-Finder), FP6-IST-2006-045541

Published
2009
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13. Multiple eyes in the skies - Architecture and perception issues in the comets unmanned air vehicles project

Author

Ollero, A., primary, Lacroix, S., additional, Merino, L., additional, Gancet, J., additional, Wiklund, J., additional, Remuss, V., additional, Veiga Perez, I., additional, Gutierrez, L.G., additional, Viegas, D.X., additional, Gonzalez Benitez, M.A., additional, Mallet, A., additional, Alami, R., additional, Chatila, R., additional, Hommel, G., additional, Colmenero Lechuga, F.J., additional, Arrue, B.C., additional, Ferruz, J., additional, Ramiro Martinez-de Dios, J., additional, and Caballero, F., additional

Published
2005
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20. Dexterous Underwater Manipulation from Distant Onshore Locations

Author

Birk, A., Fromm, T., Mueller, C. A., Luczynski, T., Gomez Chavez, A., Koehntopp, D., Kupcsik, A., Calinon, S., Tanwani, A. K., Antonelli, G., Di Lillo, P., Simetti, E., Casalino, G., Indiveri, G., Ostuni, L., Turetta, A., Caffaz, A., Weiss, P., Gobert, T., Chemisky, B., Gancet, J., Siedel, T., Govindaraj, S., Martinez, X., and Letier, P.

Abstract

Underwater manipulation is a challenging problem. The state of the art is dominated by Remotely Operated Vehicles (ROV). ROV operations typically require an offshore crew consisting of at least an intendant, an operator, and a navigator. This crew often has to be duplicated or even tripled due to work shifts. In addition, customer representatives often wish to be physically present offshore. Furthermore, underwater intervention missions are still dominated by a significant amount of low-level, manual control of the manipulator(s) and of the vehicle itself. While there is a significant amount of research on Autonomous Underwater Vehicles (AUV) in general and there are even already fieldable solutions for inspection and exploration missions, there is still quite some room for adding intelligent autonomous functions for interventions. We present here work to reduce the amount of robot operators required offshore - hence reducing cost and inconveniences - by facilitating operations from an onshore control center and reducing the gap between low-level teleoperation and full autonomy.

23. Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project

Author

Gancet, J., Weiss, P., Antonelli, G., Pfingsthorn, M. F., Calinon, S., Turetta, A., Walen, C., Urbina, D., Govindaraj, S., Letier, P., Martinez, X., Salini, J., Chemisky, B., Indiveri, G., Casalino, G., Di Lillo, P., Simetti, E., De Palma, D., Birk, A., Tanwani, A. K., Havoutis, I., Caffaz, A., and Guilpain, L.

Abstract

The operation of a ROV requires significant off-shore dedicated manpower to handle and operate the robotic platform. In order to reduce the burden of operations, DexROV proposes to work out more cost effective and time efficient ROV operations, where manned support is in a large extent delocalized onshore (i.e. from a ROV control center), possibly at a large distance from the actual operations, relying on satellite communications. The proposed scheme makes provision for advanced dexterous manipulation capabilities, exploiting human expertise from a remote location when deemed useful. The outcomes of the project will be integrated and evaluated in a series of tests and evaluation campaigns, culminating with a realistic deep sea (1,300 meters) trial. After one year, the project specified the system architecture of the system and carried out preliminary technological trade-offs for the subsystems.

25. Volatile Extraction and Detection from Frozen Lunar Regolith Simulants in Preparation for the LUVMI Rover

Author

Pitcher, C., Sheridan, S., Barber, S. J., Urbina, D., Gancet, J., Kullack, K., Ceglia, E., Madakashira, H., Salinia, J., Govindaraj, S., Surdo, L., Aked, R., Biswas, J., Reiss, P., Richter, L., Dobrea, D., Reganaz, M., Murray, Neil, Rushton, J., Evagora, A., Pitcher, C., Sheridan, S., Barber, S. J., Urbina, D., Gancet, J., Kullack, K., Ceglia, E., Madakashira, H., Salinia, J., Govindaraj, S., Surdo, L., Aked, R., Biswas, J., Reiss, P., Richter, L., Dobrea, D., Reganaz, M., Murray, Neil, Rushton, J., and Evagora, A.

26. Application Of The LVS Subsurface Probe On The LUVMI Rover For A LUNAR Volatiles Exploration Mission

Author

Biswas, J., Reiss, P., Gancet, J., Sheridan, S., Barber, S. J., Dobrea, D., Richeter, L., Murray, N., Biswas, J., Reiss, P., Gancet, J., Sheridan, S., Barber, S. J., Dobrea, D., Richeter, L., and Murray, N.

Abstract

We present the latest iteration of the Lunar Volatiles Scout (LVS), a novel instrument to access and characterise lunar volatiles insitu. The LVS is currently being developed in a cooperation between Technical University of Munich (TUM) and OHB System as part of the Lunar Volatiles Mobile Instrument (LUVMI)study, conducted in the frame of the EU Horizon 2020 initiative and led by the Belgian company Space Applications Services. LUVMI aims to develop a comprehensive light-weight(20-40 kg)rover for investigations on volatiles in and around permanently shadowed regions on the Moon. The platform is envisioned as a possible secondary payload to one of the currently planned missions to the lunar poles. It features an active chassis with four independently steerable wheels, an innovative light-field camera, the Volatiles Sampler (represented by the LVS), and the Volatiles Analyser (miniature mass spectrometer).

27. Improved Traversal for Planetary Rovers through Forward Acquisition of Terrain Trafficability

Author

Nevatia, Y.H., Gancet, J., Bulens, F., Voegele, T., Sonsalla, U., Saaj, C.M., Lewinger, W.A., Matthews, M., Cabrera, F.J.C., Gao, Y., Allouis, E., Imhof, B., Ransom, S., Richter, L., Skocki, K., Nevatia, Y.H., Gancet, J., Bulens, F., Voegele, T., Sonsalla, U., Saaj, C.M., Lewinger, W.A., Matthews, M., Cabrera, F.J.C., Gao, Y., Allouis, E., Imhof, B., Ransom, S., Richter, L., and Skocki, K.

28. Application Of The LVS Subsurface Probe On The LUVMI Rover For A LUNAR Volatiles Exploration Mission

Author

Biswas, J., Reiss, P., Gancet, J., Sheridan, S., Barber, S. J., Dobrea, D., Richeter, L., Murray, N., Biswas, J., Reiss, P., Gancet, J., Sheridan, S., Barber, S. J., Dobrea, D., Richeter, L., and Murray, N.

Abstract

We present the latest iteration of the Lunar Volatiles Scout (LVS), a novel instrument to access and characterise lunar volatiles insitu. The LVS is currently being developed in a cooperation between Technical University of Munich (TUM) and OHB System as part of the Lunar Volatiles Mobile Instrument (LUVMI)study, conducted in the frame of the EU Horizon 2020 initiative and led by the Belgian company Space Applications Services. LUVMI aims to develop a comprehensive light-weight(20-40 kg)rover for investigations on volatiles in and around permanently shadowed regions on the Moon. The platform is envisioned as a possible secondary payload to one of the currently planned missions to the lunar poles. It features an active chassis with four independently steerable wheels, an innovative light-field camera, the Volatiles Sampler (represented by the LVS), and the Volatiles Analyser (miniature mass spectrometer).

29. Volatile Extraction and Detection from Frozen Lunar Regolith Simulants in Preparation for the LUVMI Rover

Author

Pitcher, C., Sheridan, S., Barber, S. J., Urbina, D., Gancet, J., Kullack, K., Ceglia, E., Madakashira, H., Salinia, J., Govindaraj, S., Surdo, L., Aked, R., Biswas, J., Reiss, P., Richter, L., Dobrea, D., Reganaz, M., Murray, Neil, Rushton, J., Evagora, A., Pitcher, C., Sheridan, S., Barber, S. J., Urbina, D., Gancet, J., Kullack, K., Ceglia, E., Madakashira, H., Salinia, J., Govindaraj, S., Surdo, L., Aked, R., Biswas, J., Reiss, P., Richter, L., Dobrea, D., Reganaz, M., Murray, Neil, Rushton, J., and Evagora, A.

32. Design and control of the MINDWALKER exoskeleton.

Author

Wang S, Wang L, Meijneke C, van Asseldonk E, Hoellinger T, Cheron G, Ivanenko Y, La Scaleia V, Sylos-Labini F, Molinari M, Tamburella F, Pisotta I, Thorsteinsson F, Ilzkovitz M, Gancet J, Nevatia Y, Hauffe R, Zanow F, and van der Kooij H

Subjects
Adult, Computer-Aided Design, Equipment Design, Equipment Failure Analysis, Feedback, Humans, Male, Man-Machine Systems, Robotics methods, Therapy, Computer-Assisted instrumentation, Therapy, Computer-Assisted methods, Exoskeleton Device, Gait Disorders, Neurologic physiopathology, Gait Disorders, Neurologic rehabilitation, Hip Joint physiopathology, Robotics instrumentation, Walking
Abstract

Powered exoskeletons can empower paraplegics to stand and walk. Actively controlled hip ab/adduction (HAA) is needed for weight shift and for lateral foot placement to support dynamic balance control and to counteract disturbances in the frontal plane. Here, we describe the design, control, and preliminary evaluation of a novel exoskeleton, MINDWALKER. Besides powered hip flexion/extension and knee flexion/extension, it also has powered HAA. Each of the powered joints has a series elastic actuator, which can deliver 100 Nm torque and 1 kW power. A finite-state machine based controller provides gait assistance in both the sagittal and frontal planes. State transitions, such as stepping, can be triggered by the displacement of the Center of Mass (CoM). A novel step-width adaptation algorithm was proposed to stabilize lateral balance. We tested this exoskeleton on both healthy subjects and paraplegics. Experimental results showed that all users could successfully trigger steps by CoM displacement. The step-width adaptation algorithm could actively counteract disturbances, such as pushes. With the current implementations, stable walking without crutches has been achieved for healthy subjects but not yet for SCI paraplegics. More research and development is needed to improve the gait stability.

Published
2015
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33. EMG patterns during assisted walking in the exoskeleton.

Author

Sylos-Labini F, La Scaleia V, d'Avella A, Pisotta I, Tamburella F, Scivoletto G, Molinari M, Wang S, Wang L, van Asseldonk E, van der Kooij H, Hoellinger T, Cheron G, Thorsteinsson F, Ilzkovitz M, Gancet J, Hauffe R, Zanov F, Lacquaniti F, and Ivanenko YP

Abstract

Neuroprosthetic technology and robotic exoskeletons are being developed to facilitate stepping, reduce muscle efforts, and promote motor recovery. Nevertheless, the guidance forces of an exoskeleton may influence the sensory inputs, sensorimotor interactions and resulting muscle activity patterns during stepping. The aim of this study was to report the muscle activation patterns in a sample of intact and injured subjects while walking with a robotic exoskeleton and, in particular, to quantify the level of muscle activity during assisted gait. We recorded electromyographic (EMG) activity of different leg and arm muscles during overground walking in an exoskeleton in six healthy individuals and four spinal cord injury (SCI) participants. In SCI patients, EMG activity of the upper limb muscles was augmented while activation of leg muscles was typically small. Contrary to our expectations, however, in neurologically intact subjects, EMG activity of leg muscles was similar or even larger during exoskeleton-assisted walking compared to normal overground walking. In addition, significant variations in the EMG waveforms were found across different walking conditions. The most variable pattern was observed in the hamstring muscles. Overall, the results are consistent with a non-linear reorganization of the locomotor output when using the robotic stepping devices. The findings may contribute to our understanding of human-machine interactions and adaptation of locomotor activity patterns.

Published
2014
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